lgulich · Oct 5, 2026 · Aug 13, 2026 · Aug 17, 2026 · Aug 17, 2026 · Aug 18, 2026
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
@@ -21,7 +21,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
-      - uses: prefix-dev/setup-pixi@v0.10.1
+      - uses: prefix-dev/setup-pixi@v0.10.2
         with:
           manifest-path: doc/pixi.toml
       - name: Build docs

diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
@@ -0,0 +1,29 @@
+name: Check Docs - Rolling
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
+      - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/rolling-check-docs.yml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
+    with:
+      MUJOCO_ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -85,3 +85,4 @@ repos:
     hooks:
       - id: codespell
         exclude: '\.(svg|stl|dae)$|.*pixi.*'
+        args: ["--ignore-words-list=assertin"]
diff --git a/doc/development.rst b/doc/development.rst
@@ -45,7 +45,7 @@ pixi also provides an interactive shell that sources the installed package envir
    ros2 launch mujoco_ros2_control_demos demo.launch.py
 
 For more information on pixi and ROS refer to the documentation or this excellent
-`blog post <https://jafarabdi.github.io/blog/2025/ros2-pixi-dev/>`_.
+`blog post <https://jafarabdi.github.io/2025/08/23/ros2-pixi-dev/>`_.
 
 Docker Development Workflow
 ----------------------------

diff --git a/mujoco_extensions/mujoco_3d_lidar/CHANGELOG.rst b/mujoco_extensions/mujoco_3d_lidar/CHANGELOG.rst
@@ -0,0 +1,29 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mujoco_3d_lidar
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.2 (2026-09-07)
+------------------
+
+0.1.1 (2026-08-25)
+------------------
+* Fix compilation on MuJoCo 3.12.0 (`#290 <https://github.com/pal-robotics-forks/mujoco_ros2_control/issues/290>`_)
+* Fix the generate changelog of 0.1.0 (`#288 <https://github.com/pal-robotics-forks/mujoco_ros2_control/issues/288>`_)
+* Contributors: Sai Kishor Kothakota
+
+0.1.0 (2026-08-18)
+------------------
+* Make CI tests more robust (`#239 <https://github.com/ros-controls/mujoco_ros2_control/issues/239>`_)
+* Add Plugin for the 3D Lidar Extension (`#207 <https://github.com/ros-controls/mujoco_ros2_control/issues/207>`_)
+* Update Pixi packages with pixi.lock (`#223 <https://github.com/ros-controls/mujoco_ros2_control/issues/223>`_)
+* Add a 3-D Lidar Extension (`#205 <https://github.com/ros-controls/mujoco_ros2_control/issues/205>`_)
+* Contributors: Erik Holum, Sai Kishor Kothakota
+
+0.0.3 (2026-05-01)
+------------------
+
+0.0.2 (2026-03-17)
+------------------
+
+0.0.1 (2026-02-24)
+------------------
diff --git a/mujoco_extensions/mujoco_3d_lidar/include/mujoco_3d_lidar/3dlidar.h b/mujoco_extensions/mujoco_3d_lidar/include/mujoco_3d_lidar/3dlidar.h
@@ -29,7 +29,12 @@
 
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>  // pulls in whichever exists
+#if mjVERSION_HEADER >= 3009000
+#include <mujoco/mjtype.h>
+#else
 #include <mujoco/mjtnum.h>
+#endif
 #include <mujoco/mjvisualize.h>
 
 namespace mujoco::plugin::lidar

diff --git a/mujoco_extensions/mujoco_3d_lidar/package.xml b/mujoco_extensions/mujoco_3d_lidar/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mujoco_3d_lidar</name>
-  <version>0.0.3</version>
+  <version>0.1.2</version>
   <description>Plugin for mujoco to use raycasters to simulate lidar</description>
   <maintainer email="jodi.s.graf@nasa.gov">Jodi Graf</maintainer>
 

diff --git a/mujoco_extensions/mujoco_3d_lidar/src/3dlidar.cpp b/mujoco_extensions/mujoco_3d_lidar/src/3dlidar.cpp
@@ -30,7 +30,12 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mujoco.h>  // pulls in whichever exists
+#if mjVERSION_HEADER >= 3009000
+#include <mujoco/mjtype.h>
+#else
 #include <mujoco/mjtnum.h>
+#endif
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 

diff --git a/mujoco_ros2_control/CHANGELOG.rst b/mujoco_ros2_control/CHANGELOG.rst
@@ -2,6 +2,63 @@
 Changelog for package mujoco_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.2 (2026-09-07)
+------------------
+* Add world_reset plugin hook and restore eq_active on world reset (`#294 <https://github.com/ros-controls/mujoco_ros2_control/issues/294>`_)
+* Re-add conditional tinyxml2_vendor dependency (`#293 <https://github.com/ros-controls/mujoco_ros2_control/issues/293>`_)
+* Remove deprecated tinyxml2_vendor dependency (`#286 <https://github.com/ros-controls/mujoco_ros2_control/issues/286>`_)
+* Shut down ROS when the MuJoCo UI closes (`#285 <https://github.com/ros-controls/mujoco_ros2_control/issues/285>`_)
+* Contributors: Bilal Gill, Dylan Gallagher, Erik Holum, Sai Kishor Kothakota
+
+0.1.1 (2026-08-25)
+------------------
+* Fix the generate changelog of 0.1.0 (`#288 <https://github.com/pal-robotics-forks/mujoco_ros2_control/issues/288>`_)
+* Contributors: Sai Kishor Kothakota
+
+0.1.0 (2026-08-18)
+------------------
+* Add a pre-step callback to the simulation (`#282 <https://github.com/ros-controls/mujoco_ros2_control/issues/282>`_)
+* Fix control mode selection (`#281 <https://github.com/ros-controls/mujoco_ros2_control/issues/281>`_)
+* Support intvelocity actuators (`#271 <https://github.com/ros-controls/mujoco_ros2_control/issues/271>`_)
+* Add base twist plugin for commanding the mobile base (`#254 <https://github.com/ros-controls/mujoco_ros2_control/issues/254>`_)
+* Refine reset world overrides functionality (`#263 <https://github.com/ros-controls/mujoco_ros2_control/issues/263>`_)
+* Support joint overrides in reset world service (`#256 <https://github.com/ros-controls/mujoco_ros2_control/issues/256>`_)
+* Support multiple sets of state interfaces from multiple sensor tags with same name (`#258 <https://github.com/ros-controls/mujoco_ros2_control/issues/258>`_)
+* [Fix] Don't overwrite transmission-driven joint states in the direct-copy fallback (`#259 <https://github.com/ros-controls/mujoco_ros2_control/issues/259>`_)
+* [doc] Fix undefined label errors (`#260 <https://github.com/ros-controls/mujoco_ros2_control/issues/260>`_)
+* Add support for Magnetometer sensor (`#257 <https://github.com/ros-controls/mujoco_ros2_control/issues/257>`_)
+* [Feature] modify elements of geom attribute (`#244 <https://github.com/ros-controls/mujoco_ros2_control/issues/244>`_)
+* Add missing dependencies (`#250 <https://github.com/ros-controls/mujoco_ros2_control/issues/250>`_)
+* [CI] Fix dependency declarations for bloom (`#226 <https://github.com/ros-controls/mujoco_ros2_control/issues/226>`_)
+* Fix transmissions integration working with multiple actuators (`#241 <https://github.com/ros-controls/mujoco_ros2_control/issues/241>`_)
+* Add service to set the free joint body state (`#233 <https://github.com/ros-controls/mujoco_ros2_control/issues/233>`_)
+* Fix links in interface docs, use auto label generator like the upstream (`#238 <https://github.com/ros-controls/mujoco_ros2_control/issues/238>`_)
+* Fix state passed into pose sensors (`#231 <https://github.com/ros-controls/mujoco_ros2_control/issues/231>`_)
+* Fix controller manager rate collapse by decoupling control and physics locks (`#224 <https://github.com/ros-controls/mujoco_ros2_control/issues/224>`_)
+* Use updated ament_index_cpp interfaces, re-add rolling (`#229 <https://github.com/ros-controls/mujoco_ros2_control/issues/229>`_)
+* Add a 3-D Lidar Extension (`#205 <https://github.com/ros-controls/mujoco_ros2_control/issues/205>`_)
+* Add support for "site" transmission type (`#154 <https://github.com/ros-controls/mujoco_ros2_control/issues/154>`_)
+* Add support for pose sensors (`#220 <https://github.com/ros-controls/mujoco_ros2_control/issues/220>`_)
+* Fix deprecations in ament_index_cpp (`#145 <https://github.com/ros-controls/mujoco_ros2_control/issues/145>`_)
+* Fix race condition on sim-display overlay text (`#222 <https://github.com/ros-controls/mujoco_ros2_control/issues/222>`_)
+* Display the sim real time factor on the native viewer (`#189 <https://github.com/ros-controls/mujoco_ros2_control/issues/189>`_)
+* Refactor Rangefinder base Lidar as a Plugin (`#214 <https://github.com/ros-controls/mujoco_ros2_control/issues/214>`_)
+* Refactor RGB-D Cameras to a Plugin (`#211 <https://github.com/ros-controls/mujoco_ros2_control/issues/211>`_)
+* Add 'lyrical' to ros_distro matrix in CI workflow (`#213 <https://github.com/ros-controls/mujoco_ros2_control/issues/213>`_)
+* Fix scipy for openblas missing dependency (`#212 <https://github.com/ros-controls/mujoco_ros2_control/issues/212>`_)
+* Isolate flakey functional tests and update pixi (`#204 <https://github.com/ros-controls/mujoco_ros2_control/issues/204>`_)
+* Support/cameras rendering/headless (`#197 <https://github.com/ros-controls/mujoco_ros2_control/issues/197>`_)
+* Fix glfw initialization on headless run (`#200 <https://github.com/ros-controls/mujoco_ros2_control/issues/200>`_)
+* Add changes for mujoco vendor bump (`#202 <https://github.com/ros-controls/mujoco_ros2_control/issues/202>`_)
+* Control and plugin data input cleanup (`#191 <https://github.com/ros-controls/mujoco_ros2_control/issues/191>`_)
+* Migrate documentation to rst format for control.ros.org (`#188 <https://github.com/ros-controls/mujoco_ros2_control/issues/188>`_)
+* Refactor the core mujoco simulation to be in its own container (`#175 <https://github.com/ros-controls/mujoco_ros2_control/issues/175>`_)
+* Handle topic model loading failures with nullptr instead of exit (`#183 <https://github.com/ros-controls/mujoco_ros2_control/issues/183>`_)
+* Improve LiDAR validation in URDF-to-MJCF conversion (`#182 <https://github.com/ros-controls/mujoco_ros2_control/issues/182>`_)
+* Fix Sphinx xref_missing reference (`#186 <https://github.com/ros-controls/mujoco_ros2_control/issues/186>`_)
+* Handle duplicate mesh file names in the conversion tool (`#171 <https://github.com/ros-controls/mujoco_ros2_control/issues/171>`_)
+* Contributors: Christian Rauch, Christoph Fröhlich, Erik Holum, Julia Jia, Lang Qinglin, Marq Rasmussen, Ortisa, Sai Kishor Kothakota, Sebastian Castro, Tianlin Zhang, Daniel Costanzi, msavchen-nasa
+
 0.0.3 (2026-05-01)
 ------------------
 * Add more useful plugins for the mujoco_ros2_control (`#165 <https://github.com/ros-controls/mujoco_ros2_control/issues/165>`_)

diff --git a/mujoco_ros2_control/CMakeLists.txt b/mujoco_ros2_control/CMakeLists.txt
@@ -311,6 +311,7 @@ ament_export_dependencies(
   mujoco_ros2_control_plugins
   pluginlib
   control_toolbox
+  tf2_ros
   Eigen3
   mujoco_vendor
 )

diff --git a/mujoco_ros2_control/docs/hardware_interface.rst b/mujoco_ros2_control/docs/hardware_interface.rst
@@ -115,20 +115,28 @@ Maps to the following ``ros2_control`` hardware interface:
    * - Command Interface
      - MuJoCo ``position``
      - MuJoCo ``velocity``
+     - MuJoCo ``intvelocity``
      - MuJoCo ``motor``, ``general``, etc.
    * - **position**
      - Native support
      - Supported using PIDs
      - Supported using PIDs
+     - Supported using PIDs
    * - **velocity**
      - Not supported
      - Native support
+     - Native support
      - Supported using PIDs
    * - **effort**
+     - Not supported
      - Not supported
      - Not supported
      - Native support
 
+MuJoCo's ``intvelocity`` actuator integrates its ``ctrl`` input into an internal position setpoint. The input itself has
+velocity semantics, so it maps natively to a ros2_control ``velocity`` command interface without changing the actuator's
+integrated-velocity dynamics.
+
 .. note::
 
    The ``torque`` and ``force`` command/state interfaces are semantically equivalent to ``effort`` and map to the same underlying data in the sim.
@@ -170,13 +178,15 @@ MuJoCo does not model complete FTS and IMUs natively, so we combine supported MJ
 Force-Torque Sensors
 ~~~~~~~~~~~~~~~~~~~~
 
-Model ``force`` and ``torque`` sensors separately in the MJCF, suffixed with ``_force`` and ``_torque``:
+Model ``force`` and ``torque`` sensors separately in the MJCF, suffixed with ``_force`` and ``_torque``.
+Each optionally takes a ``noise`` attribute (standard deviation, in N / N*m) to add zero-mean Gaussian noise
+to its readings, see :ref:`Sensor Noise <sensor_noise>` below:
 
 .. code-block:: xml
 
    <sensor>
-     <force name="fts_sensor_force" site="ft_frame"/>
-     <torque name="fts_sensor_torque" site="ft_frame"/>
+     <force name="fts_sensor_force" site="ft_frame" noise="0.0"/>
+     <torque name="fts_sensor_torque" site="ft_frame" noise="0.0"/>
    </sensor>
 
 Map them to a single ``ros2_control`` sensor:
@@ -201,14 +211,16 @@ Map them to a single ``ros2_control`` sensor:
 IMU
 ~~~
 
-Simulate a ``framequat``, ``gyro``, and ``accelerometer`` as a single IMU:
+Simulate a ``framequat``, ``gyro``, and ``accelerometer`` as a single IMU. Each optionally takes a ``noise``
+attribute (standard deviation) to add zero-mean Gaussian noise to its readings, see
+:ref:`Sensor Noise <sensor_noise>` below:
 
 .. code-block:: xml
 
    <sensor>
-     <framequat name="imu_sensor_quat" objtype="site" objname="imu_sensor"/>
-     <gyro name="imu_sensor_gyro" site="imu_sensor"/>
-     <accelerometer name="imu_sensor_accel" site="imu_sensor"/>
+     <framequat name="imu_sensor_quat" objtype="site" objname="imu_sensor" noise="0.0"/>
+     <gyro name="imu_sensor_gyro" site="imu_sensor" noise="0.0"/>
+     <accelerometer name="imu_sensor_accel" site="imu_sensor" noise="0.0"/>
    </sensor>
 
 Map to the corresponding ``ros2_control`` sensor:
@@ -240,12 +252,13 @@ These sensor state interfaces work out of the box with the standard ROS 2 broadc
 Magnetometer
 ~~~~~~~~~~~~
 
-Model a MuJoCo ``magnetometer`` sensor in the MJCF:
+Model a MuJoCo ``magnetometer`` sensor in the MJCF. It optionally takes a ``noise`` attribute (standard
+deviation) to add zero-mean Gaussian noise to its readings, see :ref:`Sensor Noise <sensor_noise>` below:
 
 .. code-block:: xml
 
    <sensor>
-     <magnetometer name="magnetometer_sensor" site="imu_sensor"/>
+     <magnetometer name="magnetometer_sensor" site="imu_sensor" noise="0.0"/>
    </sensor>
 
 Map it to the corresponding ``ros2_control`` sensor:
@@ -261,6 +274,53 @@ Map it to the corresponding ``ros2_control`` sensor:
      <state_interface name="magnetic_field.z"/>
    </sensor>
 
+.. _sensor_noise:
+
+Sensor Noise
+~~~~~~~~~~~~
+
+Every MJCF sensor element used above (``force``, ``torque``, ``framequat``, ``gyro``, ``accelerometer``,
+``framepos``, ``magnetometer``) accepts MuJoCo's native ``noise`` attribute: the standard deviation, in the
+sensor's native units, of the noise added to its reading. It defaults to ``0`` (no noise). Noise magnitude is
+entirely driven by the MJCF, e.g.:
+
+.. code-block:: xml
+
+   <sensor>
+     <force name="fts_sensor_force" site="ft_frame" noise="0.5"/>
+     <torque name="fts_sensor_torque" site="ft_frame" noise="0.05"/>
+   </sensor>
+
+.. note::
+
+   MuJoCo compiles ``noise`` into ``mjModel::sensor_noise`` but does not apply it itself (``mj_step`` leaves
+   ``sensordata`` noise-free) — it's normally left for tools like the ``simulate`` GUI to apply for display.
+   This hardware interface applies it on every ``read()``, using its own RNG per ``ros2_control`` sensor
+   (seeded from ``std::random_device``, so the noise sequence differs between runs; there is no seed
+   parameter).
+
+MJCF has no concept of noise *shape* though — ``noise`` only ever means "standard deviation of zero-mean
+noise". Choose the shape with the ``ros2_control`` ``noise_distribution`` parameter, applying to every field
+of that sensor:
+
+.. code-block:: xml
+
+   <sensor name="fts_sensor">
+     <param name="mujoco_type">fts</param>
+     <param name="mujoco_sensor_name">fts_sensor</param>
+     <!-- "gaussian" (default) or "uniform" -->
+     <param name="noise_distribution">gaussian</param>
+     ...
+   </sensor>
+
+``uniform`` draws from ``[-stddev*sqrt(3), stddev*sqrt(3)]``, so its actual standard deviation still matches
+the configured MJCF ``noise`` value — switching distributions doesn't change the noise magnitude, only its
+shape (bounded vs. unbounded tails).
+
+For an IMU, the configured ``noise`` values are also surfaced as the diagonal of that field's (previously
+always-zero) covariance state interfaces (e.g. ``orientation_covariance.0``), for controllers that consume a
+covariance estimate.
+
 .. warning::
 
    Cameras and lidar sensors are no longer supported in the base interface, they are now provided as ``mujoco_ros2_control_plugins``.

diff --git a/mujoco_ros2_control/docs/tools.rst b/mujoco_ros2_control/docs/tools.rst
@@ -128,11 +128,48 @@ Rough outline of the automated conversion process
      Duplicate mesh files will have an ``_N`` appended to them to avoid conflicts in the output ``assets`` folder.
      For instance, if running multiple types of UR robots in one sim, there will be multiple ``shoulder.dae`` files.
 
-- Reads absolute filepaths of all meshes and converts either ``.dae`` or ``.stl`` to ``.obj`` using trimesh.
-
-  - Puts all meshes into an ``assets/`` folder under ``mjcf_data/`` relative to current working dir.
-  - Modifies filepaths again in URDF to point to the ``assets/`` folder.
-  - Decomposes large meshes into multiple components to ensure convex hulls.
+- Reads absolute filepaths of all meshes (from both ``<visual>`` and ``<collision>`` tags) and
+  materializes them into an ``assets/`` folder under ``mjcf_data/`` relative to the current
+  working dir, rewriting the URDF mesh paths to point there.
+
+- Handles visual and collision geometry independently:
+
+  - **Visual** geometry is used purely for rendering (the ``visual`` class). Visual meshes are
+    plain references - ``.stl``/``.obj`` are kept as-is and only ``.dae`` is converted to ``.obj``
+    (MuJoCo cannot load DAE). They live under ``assets/visual/`` and are **never decomposed**; their
+    color is applied as the geom's ``rgba``.
+  - **Collision** geometry drives physics (the ``collision`` class). Collision *primitives*
+    (box/sphere/cylinder/capsule) are used directly. Collision *meshes* are also used directly
+    (as a single whole-mesh collision geom) **unless** their link is named in a ``decompose_mesh``
+    input, in which case they are convex-decomposed with obj2mjcf (coacd) under
+    ``assets/decomposed/`` at the requested threshold. So decomposition is opt-in per link.
+  - When a link defines no ``<collision>``, one is synthesized from its ``<visual>`` so the visual
+    mesh is reused as the collision shape. This synthesis happens at the URDF level, so it stays
+    correct per link even when MuJoCo fuses fixed-jointed bodies together. A mesh shared by a visual
+    and a collision is converted once and reused for both (and, if that link requests decomposition,
+    the whole mesh renders while its decomposed pieces collide).
+  - Both kinds of geom get explicit attributes written directly onto them, so visual/collision
+    separation does not depend on a user-supplied ``<default class="...">`` block:
+
+    - **Visual** geoms (``class="visual"``) are render-only: they never collide and keep
+      their own material or ``rgba``.
+    - **Collision** geoms (``class="collision"``), i.e. primitives and whole meshes, do the
+      colliding and are tinted with the ``bright_orange`` material so they are easy to spot in
+      the viewer by toggling their group. The material is added to the ``<asset>`` automatically
+      when not already defined (an existing definition, e.g. from ``mujoco_inputs``, is left
+      untouched).
+    - **Decomposed collision** pieces (``class="decomposed_collision"``) collide like any other
+      collision geom but live in their own viewer group, so the convex decomposition can be
+      toggled independently of the other collisions. They are not tinted: they keep obj2mjcf's
+      per-piece colors so the individual convex hulls stay distinguishable.
+
+- Handles visual and collision geometry independently:
+
+  - The ``<visual>`` geometry is used purely for rendering (the ``visual`` class).
+  - The ``<collision>`` geometry drives physics (the ``collision`` class). When a link defines no
+    ``<collision>``, a collision is synthesized from its ``<visual>`` so the visual mesh is reused
+    as the collision shape (the previous behaviour). This synthesis happens at the URDF level, so it
+    stays correct per link even when MuJoCo fuses fixed-jointed bodies together.
 
 - Publishes the new formatted robot description XML file that can be used for conversion.
 - Converts the new robot description URDF file.